iNEMO™ Inertial module evaluation board · Inertial module evaluation board April 2011. ... The...
Transcript of iNEMO™ Inertial module evaluation board · Inertial module evaluation board April 2011. ... The...
iNEMO™Inertial module evaluation board
April 2011
iNEMO™ platfom concept
iNEMO™ V2, the second version of ST inertial module, combines accelerometers, gyroscopes and magnetometers with pressure and temperature sensors.
The system provides 3-axis sensing of linear, angular and magnetic motion, complemented with temperature and barometer/altitude readings, representing the
new ST 10-degrees of freedom platform.
ST MEMS – orientation made easyThe accelerometers sense the linear
accelerationIn static conditions, the projection of gravity
on the 3 axes allows tilt angles to be computed
The magnetometer senses the magnetic fieldIn static conditions, the projection of
geomagnetic field on the 3 axes allows the heading angle to be computed
The IMU (inertial measurement unit) allows sensor fusion and enables new applications
The gyroscope measures the angular rate applied to the device
In dynamic conditions, by integration of the 3-axis angular rate, the 3D orientation can be computed
iNEMO™ is a smart combination of multiple MEMS sensors in a unique inertial measurement unit (IMU) completed by an embedded sensor fusion algorithm that provides 3D space orientation.
iNEMO™ sensor fusion concept
iNEMO™ AHRS algorithm
Key featuresEmbedded extended Kalman filter to
provide drift-free 3D space orientationOutputs: Euler angles, quaternion,
acceleration, angular rate and magnetic fieldFirmware architecture based on FreeRTOSEKF frequency up to 100 HzDynamic range:Pitch: ±90°Roll/heading: ±180°
STM32
iNEMO™ platfom concept
Based on the previous version, the STEVALMKI062V2 represents another step forward in miniaturization, integrating five ST sensors: a 2-axis roll-and-pitch gyroscope, a 1-axis yaw gyroscope, a 6-axis geomagnetic module, a pressure sensor and a temperature sensor. The platform is completed by a 32-bit ARM based MCU, and two ultra-low-drop voltage regulators.
Extended connector for
external module (i.e. wireless
connectivity)
Micro SD protectionEMIF06-MSD02N16
+ connector
STM
32F1
03R
ET7
Power managementLD3985M18RLD3985M33R
USB protectionUSBUF02W6+ connector
42 m
m
38 mm
iNEMO™ V2: block diagram*
**
MEMS gyroscope LY330ALH
MEMSgyroscope LPR430AL
MEMS 3-accelerometer,3-magnetometer
module LSM303DLH
Temperature sensor
STLM75DS2F
MEMS pressure sensor
LPS001DL
Bottom
Top
* Supporting only HW connector**Supporting only HW micro SD card connectorAny firmware for data logging available
Features3-axis accelerometer: 2 ÷ 8 g3-axis magnetic sensor: up to 8.1 gaussIndependent sensing power managementI²C interface
MEMS compass and gyroscopeCompass LSM303DLH: digital module3 accelerometers + 3 magnetometers
LSM303DLH datasheet
FeaturesAnalog absolute angular-rate outputsTwo separate outputs for each axisIntegrated low-pass filtersHigh shock and vibration survivability
LPR430AL datasheet LY330ALH datasheet
Gyroscope: high-performance ±300 dps analog dual-axis LPR430AL (pitch and roll)
and LY330ALH (yaw)
More about MEMS at www.st.com/mems
STM32F103RET7
Datasheet
FeaturesCore: ARM 32-bit Cortex™-M3 CPU72 MHz maximum frequency 256 Kbytes of Flash memory and 64 Kbytes of SRAM3x 12-bit ADCs13 communication interfaces, 11 timers
High-density performance line ARM-based 32-bit MCU
More at www.st.com/stm32
More products
EMIF06-MSD02N16 – 6-line IPAD™, EMI filter and ESD protection
Datasheet
USBUF02W6 – EMI filter and line termination for USB upstream ports
Datasheet
STLM75DS2F – digital temperature sensor and thermal watchdog
Datasheet
LD3985M18R/M33R – ultra-low drop, low-noise BiCMOS voltage regulators
Datasheet
The iNEMO’s 10-degrees of freedomfrees creativity in applications
iNEMO™ enabling new applicationsThe iNEMO inertial system, with integrated ST sensors (2-axis gyroscope + 1-axis gyroscope, 6-axis geomagnetic module and a pressure sensor ), gives 10 degrees of freedom that can be used in numerous applications such as virtual reality, augmented reality, image stabilization, human machine interfaces and robotics.
Pitch
Yaw
Roll
Gaming and entertainmentImplementing enhanced tracking algorithms, MEMS sensors allow the user to convert player motion into game action.
iNEMO™ V1/V2 platforms application example (no dedicated software/firmware available). For further details, please refer to ST on-line support.
Intuitive user interface
Complete 360°gesture recognition
Location based services (LBS) Implementing enhanced tracking algorithms, MEMS sensors allow the user to retrieve the exact position and orientation even when the GPS signal is lost.
POI without compass POI filtering with compass
Which building ?
iNEMO™ V1/V2 platforms application example (no dedicated software/firmware available). For further details, please refer to ST on-line support.
Human body movement recognition3D movement recognition with ST iNEMO and AHRS sensor fusion.
Central unit
Post processing unit
iNEMO™ V1/V2 platforms application example (no dedicated software/firmware available). For further details, please refer to ST on-line support.
FitnessThe accelerometer provides pedometer data, with high accuracy, for post processing.
iNEMO™ V1/V2 platforms application example (no dedicated software/firmware available). For further details, please refer to ST on-line support.
www.st.com
iNEMO™ web pages and technical supportiNEMO-V2 STEVAL-MKI062V2: www.st.com/inemoiNEMO-V1 STEVAL-MKI062V1: www.st.com/internet/evalboard/product/246340.jsp(for technical support, click on icon available in the above web pages)
ResourcesVideo: http://www.st.com/internet/com/support/edemoroom.jsp
Communities and FAQ at my.st.com:STe2e communities:
https://my.st.com/public/STe2ecommunities/mcu/Lists/STM32F%20MEMS%20%20iNEMO/AllItems.aspx
FAQ: https://my.st.com/public/FAQ/faq.aspx?level=3&objectid=1116&type=product
Further information